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                人工智能5-追逐和逃避
            
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            <h2 id="追逐"><a href="#追逐" class="headerlink" title="追逐"></a><strong>追逐</strong></h2><p>追逐行为和靠近行为很相似，只不过目标不再是静止不动，而是另一个可移动的角色。最简单的追逃方式是直接向目标的当前位置靠近，不过看上去很不真实.</p>
<a id="more"></a>

<p>当动物追逐猎物时，绝不是直接向猎物的当前位置奔跑，而是预测猎物的未来位置，然后向着未来位置的方向追去，这样才能在最短时间内追上猎物。<br><img src="1.jpg" alt></p>
<p>可以看出，追逐是朝向未来位置，而不是朝向当前位置。</p>
<h2 id="原理"><a href="#原理" class="headerlink" title="原理"></a><strong>原理</strong></h2><p>使用一个简单的预测器，在每一帧重新计算它的值。<br>假设采用一个线性预测器，又假设在预测间隔T时间内角色不会转向，角色经过时间T之后的未来位置可以用当前速度乘以T来确定，然后把得到的值加到角色的当前位置上，就可以得到预测位置了。最后再以预测位置作为目标，应用靠近行为就可以了。</p>
<h4 id="预测间隔T"><a href="#预测间隔T" class="headerlink" title="预测间隔T"></a><strong>预测间隔T</strong></h4><p>可以把它设为一个常数，也可以当追逐者距离目标较远时为较大值，接近目标时设为较小的值。</p>
<p>一些情况下追逐可能提前结束。例如，如果逃避者在前面，几乎面对追逐者，那么追逐者应该直接向逃避者的当前位置移动。<br>二者之间的关系可以通过计算逃避者朝向向量与角色朝向向量的点积得到。<br>下面代码中，逃避者朝向的反向和角色的朝向必须在20度范围内，才可以被认为是面对着的，几乎在一直线上。</p>
<p><strong>点积计算可以获得2向量之间的夹角</strong></p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br><span class="line">39</span><br><span class="line">40</span><br><span class="line">41</span><br><span class="line">42</span><br><span class="line">43</span><br><span class="line">44</span><br><span class="line">45</span><br></pre></td><td class="code"><pre><span class="line">public class SteeringForPursuit : Steering &#123;</span><br><span class="line"></span><br><span class="line">    public GameObject target;</span><br><span class="line"></span><br><span class="line">    <span class="hljs-comment">//预期速度</span></span><br><span class="line">    private Vector3 desireVelocity;</span><br><span class="line">    <span class="hljs-comment">//获得被操控角色</span></span><br><span class="line">    private Vehicle m_vehicle;</span><br><span class="line"></span><br><span class="line">    <span class="hljs-comment">// Use this for initialization</span></span><br><span class="line">    <span class="hljs-keyword">void</span> Start()</span><br><span class="line">    &#123;</span><br><span class="line">        m_vehicle = GetComponent&lt;Vehicle&gt;();</span><br><span class="line">    &#125;</span><br><span class="line"></span><br><span class="line">    public override Vector3 Force()</span><br><span class="line">    &#123;</span><br><span class="line">        Vector3 tmpPos = <span class="hljs-keyword">new</span> Vector3(transform.position.x, <span class="hljs-number">0</span>, transform.position.z);</span><br><span class="line">        Vector3 tmpTargetPos = <span class="hljs-keyword">new</span> Vector3(target.transform.position.x, <span class="hljs-number">0</span>, target.transform.position.z);</span><br><span class="line">        Vector3 toTarget = tmpTargetPos - tmpPos;</span><br><span class="line">        Vector3 returnForce = Vector3.zero;</span><br><span class="line"></span><br><span class="line">        <span class="hljs-comment">//计算追逐者的前向与逃避者前向之间的夹角</span></span><br><span class="line">        float relativeDirection = Vector3.Dot(transform.forward, target.transform.forward);</span><br><span class="line">        <span class="hljs-comment">//如果夹角大于0，说明追逐者基本面对着逃避者，</span></span><br><span class="line">        <span class="hljs-comment">//relativeDirection小于0，说明追逐者面对逃避者，且夹角&gt;160，说明接近一直线方向</span></span><br><span class="line">        <span class="hljs-comment">//直接向目标位置移动</span></span><br><span class="line">        <span class="hljs-keyword">if</span> (Vector3.Dot(toTarget,transform.forward)&gt;<span class="hljs-number">0</span> &amp;&amp; relativeDirection &lt; <span class="hljs-number">-0.95</span>f)&#123;</span><br><span class="line">            <span class="hljs-comment">//根据目标方向计算预期最大速度</span></span><br><span class="line">            desireVelocity = toTarget.normalized * m_vehicle.maxSpeed;</span><br><span class="line">            returnForce = (desireVelocity - m_vehicle.velocity);</span><br><span class="line">        &#125;</span><br><span class="line">        <span class="hljs-keyword">else</span></span><br><span class="line">        &#123;</span><br><span class="line">            Vector3 targetVelocity = target.GetComponent&lt;Vehicle&gt;().velocity;</span><br><span class="line">            <span class="hljs-comment">//计算预测时间，正比于追逐者与逃避者的距离，反比与追逐者和逃避者的速度和</span></span><br><span class="line">            float lookaheadTime = toTarget.magnitude / (m_vehicle.maxSpeed + targetVelocity.magnitude);</span><br><span class="line">            desireVelocity = (target.transform.position + targetVelocity * lookaheadTime - transform.position).normalized * m_vehicle.maxSpeed;</span><br><span class="line">            returnForce = (desireVelocity - m_vehicle.velocity);</span><br><span class="line">        &#125;</span><br><span class="line"></span><br><span class="line">        <span class="hljs-keyword">if</span> (m_vehicle.isPlanar) desireVelocity.y = <span class="hljs-number">0</span>;</span><br><span class="line">        <span class="hljs-keyword">return</span> returnForce;</span><br><span class="line">    &#125;</span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>

<h2 id="逃避"><a href="#逃避" class="headerlink" title="逃避"></a><strong>逃避</strong></h2><p>逃避行为是指猎物躲避捕猎者。逃避行为与追逐行为的不同是它试图使AI角色逃离预测位置</p>
<figure class="highlight javascript hljs"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br><span class="line">25</span><br><span class="line">26</span><br><span class="line">27</span><br><span class="line">28</span><br><span class="line">29</span><br><span class="line">30</span><br><span class="line">31</span><br><span class="line">32</span><br><span class="line">33</span><br><span class="line">34</span><br><span class="line">35</span><br><span class="line">36</span><br><span class="line">37</span><br><span class="line">38</span><br></pre></td><td class="code"><pre><span class="line">public class SteeringForEvade : Steering</span><br><span class="line">&#123;</span><br><span class="line"></span><br><span class="line">    public GameObject target;</span><br><span class="line"></span><br><span class="line">    <span class="hljs-comment">//预期速度</span></span><br><span class="line">    private Vector3 desireVelocity;</span><br><span class="line">    <span class="hljs-comment">//获得被操控角色</span></span><br><span class="line">    private Vehicle m_vehicle;</span><br><span class="line"></span><br><span class="line">    <span class="hljs-comment">// Use this for initialization</span></span><br><span class="line">    <span class="hljs-keyword">void</span> Start()</span><br><span class="line">    &#123;</span><br><span class="line">        m_vehicle = GetComponent&lt;Vehicle&gt;();</span><br><span class="line">    &#125;</span><br><span class="line"></span><br><span class="line">    public override Vector3 Force()</span><br><span class="line">    &#123;</span><br><span class="line">        Vector3 tmpPos = <span class="hljs-keyword">new</span> Vector3(transform.position.x, <span class="hljs-number">0</span>, transform.position.z);</span><br><span class="line">        Vector3 tmpTargetPos = <span class="hljs-keyword">new</span> Vector3(target.transform.position.x, <span class="hljs-number">0</span>, target.transform.position.z);</span><br><span class="line">        Vector3 toTarget = tmpTargetPos - tmpPos;</span><br><span class="line">        Vector3 returnForce = Vector3.zero;</span><br><span class="line"></span><br><span class="line">        <span class="hljs-keyword">if</span>(toTarget.sqrMagnitude &gt; <span class="hljs-number">5</span>)</span><br><span class="line">        &#123;</span><br><span class="line">            <span class="hljs-keyword">return</span> returnForce;</span><br><span class="line">        &#125;</span><br><span class="line"></span><br><span class="line">        Vector3 targetVelocity = target.GetComponent&lt;Vehicle&gt;().velocity;</span><br><span class="line">        <span class="hljs-comment">//计算预测时间，正比于追逐者与逃避者的距离，反比与追逐者和逃避者的速度和</span></span><br><span class="line">        float lookaheadTime = toTarget.magnitude / (m_vehicle.maxSpeed + targetVelocity.magnitude);</span><br><span class="line">        desireVelocity = (transform.position - (targetVelocity * lookaheadTime + target.transform.position)).normalized * m_vehicle.maxSpeed;</span><br><span class="line">        returnForce = (desireVelocity - m_vehicle.velocity);</span><br><span class="line">   </span><br><span class="line">        <span class="hljs-keyword">if</span> (m_vehicle.isPlanar) desireVelocity.y = <span class="hljs-number">0</span>;</span><br><span class="line">        <span class="hljs-keyword">return</span> returnForce;</span><br><span class="line">    &#125;</span><br><span class="line">&#125;</span><br></pre></td></tr></table></figure>


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